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Copter : Update EKF optical flow data interface

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Makes it compatible with the new PX4Flow interface
This commit is contained in:
priseborough 2014-11-01 06:41:01 +11:00 committed by Andrew Tridgell
parent 8faeb190de
commit 311206017c
1 changed files with 2 additions and 5 deletions
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7
ArduCopter/ArduCopter.pde
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@ -1206,11 +1206,8 @@ static void update_optical_flow(void)
if (optflow.last_update() != last_of_update) {
last_of_update = optflow.last_update();
uint8_t flowQuality = optflow.quality();
Vector2f rawFlowRates = optflow.velocity();
Vector2i temp = optflow.raw();
Vector2f rawGyroRates;
rawGyroRates.x = 0.001f * float(temp.x);
rawGyroRates.y = 0.001f * float(temp.y);
Vector2f rawFlowRates = optflow.flowRate();
Vector2f rawGyroRates = optflow.bodyRate();
// Use range from a separate range finder if available, not the PX4Flows built in sensor which is ineffective
float ground_distance_m = 0.01f*float(sonar_alt);
ahrs.writeOptFlowMeas(flowQuality, rawFlowRates, rawGyroRates, last_of_update, sonar_alt_health, ground_distance_m);